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M350b版本

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xin
2026-01-08 16:00:08 +08:00
parent 7396728ea7
commit a76d4b77e9
213 changed files with 8883 additions and 7196579 deletions
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2
PSDK/samples/sample_c/platform/linux/common/osal/osal.c
View File

@ -323,7 +323,7 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
if (s_localTimeUsOffset == 0) {
s_localTimeUsOffset = *us;
} else {
*us = *us - s_localTimeMsOffset;
*us = *us - s_localTimeUsOffset;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

7
PSDK/samples/sample_c/platform/linux/common/osal/osal_fs.c
View File

@ -48,15 +48,10 @@ T_DjiReturnCode Osal_FileOpen(const char *fileName, const char *fileMode, T_DjiF
*fileObj = fopen(fileName, fileMode);
if (*fileObj == NULL) {
goto out;
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
out:
free(*fileObj);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
T_DjiReturnCode Osal_FileClose(T_DjiFileHandle fileObj)

2
PSDK/samples/sample_c/platform/linux/common/osal/osal_socket.c
View File

@ -176,8 +176,6 @@ T_DjiReturnCode Osal_UdpRecvData(T_DjiSocketHandle socketHandle, char *ipAddr, u
ret = recvfrom(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, &addrLen);
if (ret >= 0) {
*realLen = ret;
strcpy(ipAddr, inet_ntoa(addr.sin_addr));
*port = ntohs(addr.sin_port);
} else {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}

40
PSDK/samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c
View File

@ -47,6 +47,9 @@ static T_DjiReturnCode DjiTest_RunSystemCmd(char *systemCmdStr);
T_DjiReturnCode DjiUpgradePlatformLinux_RebootSystem(void)
{
// attention: you need su permission to reboot system
USER_LOG_INFO("reboot -h now");
return DjiTest_RunSystemCmd("reboot -h now");
}
@ -56,16 +59,31 @@ T_DjiReturnCode DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea(void)
snprintf(cmdBuffer, DJI_TEST_CMD_CALL_MAX_LEN, "rm -rf %s*", DJI_TEST_UPGRADE_FILE_DIR);
USER_LOG_INFO("%s", cmdBuffer);
return DjiTest_RunSystemCmd(cmdBuffer);
}
T_DjiReturnCode DjiUpgradePlatformLinux_ReplaceOldProgram(void)
{
char cmdBuffer[DJI_TEST_CMD_CALL_MAX_LEN];
T_DjiReturnCode returnCode;
snprintf(cmdBuffer, DJI_TEST_CMD_CALL_MAX_LEN, "cp -f %s*_V*.*.*.bin %s", DJI_TEST_UPGRADE_FILE_DIR,
DJI_TEST_UPGRADE_OLD_FIRMWARE_PATH);
USER_LOG_INFO("%s", cmdBuffer);
returnCode = DjiTest_RunSystemCmd(cmdBuffer);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Replace old program file error");
return returnCode;
}
snprintf(cmdBuffer, DJI_TEST_CMD_CALL_MAX_LEN, "chmod 777 %s", DJI_TEST_UPGRADE_OLD_FIRMWARE_PATH);
USER_LOG_INFO("%s", cmdBuffer);
return DjiTest_RunSystemCmd(cmdBuffer);
}
@ -81,6 +99,8 @@ T_DjiReturnCode DjiUpgradePlatformLinux_SetUpgradeRebootState(const T_DjiUpgrade
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
USER_LOG_INFO("set upgrade reboot state to %s, state %d", DJI_REBOOT_STATE_FILE_NAME, upgradeEndInfo->upgradeEndState);
res = fwrite((uint8_t *) upgradeEndInfo, 1, sizeof(T_DjiUpgradeEndInfo), rebootStateFile);
if (res != sizeof(T_DjiUpgradeEndInfo)) {
USER_LOG_ERROR("Write data len is not equal");
@ -103,6 +123,7 @@ T_DjiReturnCode DjiUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReb
rebootStateFile = fopen(DJI_REBOOT_STATE_FILE_NAME, "r");
if (rebootStateFile == NULL) {
*isUpgradeReboot = false;
USER_LOG_INFO("isUpgradeReboot false");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
@ -112,8 +133,12 @@ T_DjiReturnCode DjiUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReb
*isUpgradeReboot = false;
goto out;
}
USER_LOG_INFO("isUpgradeReboot true");
*isUpgradeReboot = true;
USER_LOG_INFO("upgrade end state is %d", upgradeEndInfo->upgradeEndState);
out:
fclose(rebootStateFile);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -121,18 +146,29 @@ out:
T_DjiReturnCode DjiUpgradePlatformLinux_CleanUpgradeRebootState(void)
{
USER_LOG_INFO("rm -f %s", DJI_REBOOT_STATE_FILE_NAME);
return DjiTest_RunSystemCmd("rm -f "DJI_REBOOT_STATE_FILE_NAME);
}
T_DjiReturnCode DjiUpgradePlatformLinux_CreateUpgradeProgramFile(const T_DjiUpgradeFileInfo *fileInfo)
{
char filePath[DJI_FILE_PATH_SIZE_MAX];
char cmdBuffer[DJI_TEST_CMD_CALL_MAX_LEN];
snprintf(cmdBuffer, DJI_TEST_CMD_CALL_MAX_LEN, "mkdir -p %s", DJI_TEST_UPGRADE_FILE_DIR);
USER_LOG_INFO("%s", cmdBuffer);
DjiTest_RunSystemCmd(cmdBuffer);
USER_LOG_INFO("create %s%s", DJI_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
s_upgradeProgramFile = NULL;
snprintf(filePath, DJI_FILE_PATH_SIZE_MAX, "%s%s", DJI_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
s_upgradeProgramFile = fopen(filePath, "w+");
if (s_upgradeProgramFile == NULL) {
USER_LOG_ERROR("Upgrade program file can't create");
USER_LOG_ERROR("Upgrade program file can't create: %s", filePath);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -191,6 +227,8 @@ T_DjiReturnCode DjiUpgradePlatformLinux_CloseUpgradeProgramFile(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
USER_LOG_INFO("close upgrade program file");
fclose(s_upgradeProgramFile);
s_upgradeProgramFile = NULL;

4
PSDK/samples/sample_c/platform/linux/manifold2/CMakeLists.txt
View File

@ -41,7 +41,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
include_directories(../../../module_sample)
include_directories(../common)
include_directories(../manifold2/application)
include_directories(application)
include_directories(../../../../../psdk_lib/include)
link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
@ -82,7 +82,7 @@ else ()
message(STATUS "Cannot Find LIBUSB")
endif (LIBUSB_FOUND)
target_link_libraries(${PROJECT_NAME} m)
target_link_libraries(${PROJECT_NAME} m dl)
add_custom_command(TARGET ${PROJECT_NAME}
PRE_LINK COMMAND cmake ..

7
PSDK/samples/sample_c/platform/linux/nvidia_jetson/CMakeLists.txt
View File

@ -31,7 +31,8 @@ elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
add_definitions(-DPLATFORM_ARCH_aarch64=1)
else ()
message(FATAL_ERROR "FATAL: Please confirm your platform.")
set(TOOLCHAIN_NAME arm-linux-gnueabihf-gcc)
# message(FATAL_ERROR "FATAL: Please confirm your platform.")
endif ()
file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c)
@ -41,7 +42,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
include_directories(../../../module_sample)
include_directories(../common)
include_directories(../manifold2/application)
include_directories(application)
include_directories(../../../../../psdk_lib/include)
link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
@ -82,7 +83,7 @@ else ()
message(STATUS "Cannot Find LIBUSB")
endif (LIBUSB_FOUND)
target_link_libraries(${PROJECT_NAME} m)
target_link_libraries(${PROJECT_NAME} m dl)
add_custom_command(TARGET ${PROJECT_NAME}
PRE_LINK COMMAND cmake ..

11
PSDK/samples/sample_c/platform/linux/nvidia_jetson/application/dji_sdk_app_info.h
View File

@ -35,13 +35,14 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
// ATTENTION: User must goto https://developer.dji.com/user/apps/#all to create your own dji sdk application, get dji sdk application
// information then fill in the application information here.
#define USER_APP_NAME "your_app_name"
#define USER_APP_ID "your_app_id"
#define USER_APP_KEY "your_app_key"
#define USER_APP_LICENSE "your_app_license"
#define USER_DEVELOPER_ACCOUNT "your_developer_account"
#define USER_APP_NAME "M400device"
#define USER_APP_ID "176035"
#define USER_APP_KEY "4889bbeb0092089889b4f3180167202"
#define USER_APP_LICENSE "VVfdaxQA6j5aX6zy/C6S2PFoSUqdcj5PeQ1GG8aRMuy+SegA1y9iYtQLOLu7CprNwwBN6X6wdwzSn8lOHJuXb6TfvRsakVCsXQ6A9qWmBB8IKzAKcQ60EJlZ71h5cLthXzNNq1ERQpBM5w9b+FebKF29XzozZCF2ZYWSgoGb/nEWxlm23Gp0EB3ZwbP31yRyLQUCY3iDdLYByOe3xSGLtJOlu3OJuujzY80T3eqWonwYsl4Hb4hWJODXJYWzLGFA1irjVJdle//7WZ0F17fEo/xGgPb7W36twDU80QFfpwagEqtacoo6bp+qij6Db10wF9Z8VWlAkY+59lLbyV3gnw=="
#define USER_DEVELOPER_ACCOUNT "rlxlixin1@163.com"
#define USER_BAUD_RATE "460800"
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/

22
PSDK/samples/sample_c/platform/linux/nvidia_jetson/application/dji_sdk_config.h
View File

@ -37,22 +37,24 @@ extern "C" {
#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
#define DJI_USE_ONLY_USB_BULK_DEVICE (3)
#define DJI_USE_ONLY_NETWORK_DEVICE (4)
/*!< Attention: Select your hardware connection mode here.
* */
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE
#define CONFIG_HARDWARE_CONNECTION DJI_USE_ONLY_USB_BULK_DEVICE
/*!< Attention: Select the sample you want to run here.
* */
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
// #define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
//
// #define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
//
// #define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
//
// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
//
// #define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON

61
PSDK/samples/sample_c/platform/linux/nvidia_jetson/application/main.c
View File

@ -47,6 +47,7 @@
#include "../hal/hal_uart.h"
#include "../hal/hal_network.h"
#include "../hal/hal_usb_bulk.h"
#include "../hal/hal_i2c.h"
#include "dji_sdk_app_info.h"
#include "dji_aircraft_info.h"
#include "widget/test_widget.h"
@ -128,6 +129,7 @@ int main(int argc, char **argv)
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Core init error");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -185,12 +187,13 @@ int main(int argc, char **argv)
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
USER_LOG_ERROR("data tramsmission sample init error");
}
#endif
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
(aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)) {
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction sample init error");
@ -224,6 +227,8 @@ int main(int argc, char **argv)
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
@ -370,6 +375,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
.UartWriteData = HalUart_WriteData,
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
.UartGetDeviceInfo = HalUart_GetDeviceInfo,
};
T_DjiHalNetworkHandler networkHandler = {
@ -415,15 +421,22 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
.TcpRecvData = Osal_TcpRecvData,
};
T_DjiHalI2cHandler i2CHandler = {
.I2cInit = HalI2c_Init,
.I2cDeInit = HalI2c_DeInit,
.I2cWriteData = HalI2c_WriteData,
.I2cReadData = HalI2c_ReadData,
};
returnCode = DjiPlatform_RegOsalHandler(&osalHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
returnCode = DjiPlatform_RegHalI2cHandler(&i2CHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
printf("register hal i2c handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -445,12 +458,24 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
}
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
@ -464,8 +489,32 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);

37
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_network.c
View File

@ -42,16 +42,27 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
{
int32_t ret;
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
int32_t routeIp[4] = {0};
int32_t genMask[4] = {0};
if (ipAddr == NULL || netMask == NULL) {
USER_LOG_ERROR("hal network config param error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
sscanf(ipAddr, "%d.%d.%d.%d", &routeIp[0], &routeIp[1], &routeIp[2], &routeIp[3]);
sscanf(netMask, "%d.%d.%d.%d", &genMask[0], &genMask[1], &genMask[2], &genMask[3]);
routeIp[0] &= genMask[0];
routeIp[1] &= genMask[1];
routeIp[2] &= genMask[2];
routeIp[3] &= genMask[3];
//Attention: need root permission to config ip addr and netmask.
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't open the network."
@ -61,14 +72,34 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
}
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't config the ip address of network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
snprintf(cmdStr, sizeof(cmdStr), "ip route flush dev %s", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
snprintf(cmdStr, sizeof(cmdStr), "route add -net %d.%d.%d.%d netmask %s dev %s",
routeIp[0], routeIp[1], routeIp[2], routeIp[3], netMask, LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

6
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_network.h
View File

@ -42,7 +42,7 @@ extern "C" {
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
#else
#define LINUX_NETWORK_DEV "l4tbr0"
#define LINUX_NETWORK_DEV "pi4br0"
#endif
/**
* @attention
@ -52,8 +52,8 @@ extern "C" {
#define USB_NET_ADAPTER_VID (0x0B95)
#define USB_NET_ADAPTER_PID (0x1790)
#else
#define USB_NET_ADAPTER_VID (0x0955)
#define USB_NET_ADAPTER_PID (0x7020)
#define USB_NET_ADAPTER_VID (0x2CA3)
#define USB_NET_ADAPTER_PID (0xF003)
#endif
#define LINUX_CMD_STR_MAX_SIZE (128)

12
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_uart.c
View File

@ -255,6 +255,18 @@ T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *stat
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo)
{
if (deviceInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
deviceInfo->vid = USB_UART_CONNECTED_TO_UAV_VID;
deviceInfo->pid = USB_UART_CONNECTED_TO_UAV_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

10
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_uart.h
View File

@ -48,6 +48,15 @@ extern "C" {
#define LINUX_UART_DEV1 "/dev/ttyUSB0"
#define LINUX_UART_DEV2 "/dev/ttyACM0"
/**
* Use for Eport 2.0, specify the VID and PID of the USB serial port closest to the aircraft.
* FT232 0x0403:0x6001
* CP2102 0x10C4:0xEA60
* VCOM 0x2CA3:0xF002
*/
#define USB_UART_CONNECTED_TO_UAV_VID (0x0403)
#define USB_UART_CONNECTED_TO_UAV_PID (0x6001)
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
@ -56,6 +65,7 @@ T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

42
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_usb_bulk.c
View File

@ -25,6 +25,7 @@
/* Includes ------------------------------------------------------------------*/
#include "hal_usb_bulk.h"
#include "dji_logger.h"
#include <errno.h>
/* Private constants ---------------------------------------------------------*/
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
@ -67,12 +68,13 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
if (handle == NULL) {
USER_LOG_ERROR("libusb open device error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
if (ret != LIBUSB_SUCCESS) {
printf("libusb claim interface error");
USER_LOG_ERROR("libusb claim interface error");
libusb_close(handle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -86,22 +88,32 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK3_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK3_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK3_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -163,7 +175,13 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
*realLen = actualLen;
#endif
} else {
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
ret = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
if (ret < 0) {
USER_LOG_ERROR("write ret %d %d %s\n", ret, errno, strerror(errno));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
*realLen = ret;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -194,7 +212,13 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
*realLen = actualLen;
#endif
} else {
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
ret = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
if (ret < 0) {
USER_LOG_ERROR("read ret %d %d %s\n", ret, errno, strerror(errno));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
*realLen = ret;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -216,6 +240,10 @@ T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].interfaceNum = LINUX_USB_BULK3_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointIn = LINUX_USB_BULK3_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointOut = LINUX_USB_BULK3_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

36
PSDK/samples/sample_c/platform/linux/nvidia_jetson/hal/hal_usb_bulk.h
View File

@ -52,27 +52,29 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_INTERFACE_NUM (7)
#define LINUX_USB_BULK1_END_POINT_IN (0x88)
#define LINUX_USB_BULK1_END_POINT_OUT (5)
#define LINUX_USB_BULK1_INTERFACE_NUM (0)
#define LINUX_USB_BULK1_END_POINT_IN (0x81)
#define LINUX_USB_BULK1_END_POINT_OUT (0x01)
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (8)
#define LINUX_USB_BULK2_END_POINT_IN (0x89)
#define LINUX_USB_BULK2_END_POINT_OUT (6)
#define LINUX_USB_BULK2_INTERFACE_NUM (1)
#define LINUX_USB_BULK2_END_POINT_IN (0x82)
#define LINUX_USB_BULK2_END_POINT_OUT (0x02)
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_USB_VID (0x0B95)
#define LINUX_USB_PID (0x1790)
#else
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#endif
#define LINUX_USB_BULK3_EP_IN_FD "/dev/usb-ffs/bulk3/ep1"
#define LINUX_USB_BULK3_EP_OUT_FD "/dev/usb-ffs/bulk3/ep2"
#define LINUX_USB_BULK3_INTERFACE_NUM (2)
#define LINUX_USB_BULK3_END_POINT_IN (0x83)
#define LINUX_USB_BULK3_END_POINT_OUT (0x03)
#define LINUX_USB_VID (0x2CA3)
#define LINUX_USB_PID (0xF001)
/* Exported types ------------------------------------------------------------*/

46
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -38,6 +38,7 @@
#include "application.h"
#include "hal_uart.h"
#include "hal_i2c.h"
#include "osal.h"
#include "dji_sdk_app_info.h"
#include "dji_sdk_config.h"
@ -110,6 +111,13 @@ void DjiUser_StartTask(void const *argument)
.UartWriteData = HalUart_WriteData,
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
.UartGetDeviceInfo = HalUart_GetDeviceInfo,
};
T_DjiHalI2cHandler i2CHandler = {
.I2cInit = HalI2c_Init,
.I2cDeInit = HalI2c_DeInit,
.I2cWriteData = HalI2c_WriteData,
.I2cReadData = HalI2c_ReadData,
};
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = USER_FIRMWARE_MAJOR_VERSION,
@ -139,6 +147,12 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
returnCode = DjiPlatform_RegHalI2cHandler(&i2CHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal i2c handler error");
goto out;
}
returnCode = DjiLogger_AddConsole(&printConsole);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("add printf console error");
@ -151,6 +165,18 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
goto out;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
goto out;
}
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("core init error");
@ -169,18 +195,6 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
goto out;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
goto out;
}
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
@ -294,9 +308,13 @@ void DjiUser_StartTask(void const *argument)
#endif
#ifdef CONFIG_MODULE_SAMPLE_POSITIONING_ON
if ((aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
if (((aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)
&& aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT) {
&& aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT)
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4D == aircraftInfoBaseInfo.aircraftType
) {
if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk positioning init error");
}

8
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -34,23 +34,23 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
// #define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
// #define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
// #define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
// #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
// #define CONFIG_MODULE_SAMPLE_CAMERA_ON
// #define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
// #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
// #define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON

2
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/stm32f4xx_hal_conf.h
View File

@ -52,7 +52,7 @@
/* #define HAL_SRAM_MODULE_ENABLED */
/* #define HAL_SDRAM_MODULE_ENABLED */
/* #define HAL_HASH_MODULE_ENABLED */
/* #define HAL_I2C_MODULE_ENABLED */
#define HAL_I2C_MODULE_ENABLED
/* #define HAL_I2S_MODULE_ENABLED */
/* #define HAL_IWDG_MODULE_ENABLED */
/* #define HAL_LTDC_MODULE_ENABLED */

26
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.c
View File

@ -38,6 +38,18 @@
/* Private constants ---------------------------------------------------------*/
#define COMMUNICATION_UART_NUM UART_NUM_3
#define HAL_UART_USB_UART_FT232_VID (0x0403)
#define HAL_UART_USB_UART_FT232_PID (0x6001)
#define HAL_UART_USB_UART_CP2102_VID (0x10C4)
#define HAL_UART_USB_UART_CP2102_PID (0xEA60)
#define HAL_UART_USB_UART_VCOM_VID (0x2CA3)
#define HAL_UART_USB_UART_VCOM_PID (0xF002)
#define HAL_UART_USB_UART_VID HAL_UART_USB_UART_FT232_VID
#define HAL_UART_USB_UART_PID HAL_UART_USB_UART_FT232_PID
/* Private types -------------------------------------------------------------*/
typedef enum {
USER_UART_NUM0 = 0,
@ -120,6 +132,20 @@ T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *stat
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo)
{
if (deviceInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
deviceInfo->vid = HAL_UART_USB_UART_VID;
deviceInfo->pid = HAL_UART_USB_UART_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

2
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.h
View File

@ -30,7 +30,6 @@
#define HAL_H
/* Includes ------------------------------------------------------------------*/
//#include "dji_platform.h"
#include "stdint.h"
#include "dji_platform.h"
@ -48,6 +47,7 @@ T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

60
PSDK/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx
View File

@ -570,6 +570,11 @@
</File>
<File>
<FileType>1</FileType>
<FileName>hal_i2c.c</FileName>
<FilePath>..\..\hal\hal_i2c.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>hal_uart.c</FileName>
<FilePath>..\..\hal\hal_uart.c</FilePath>
</File>
@ -735,6 +740,16 @@
</File>
<File>
<FileType>1</FileType>
<FileName>stm32f4xx_hal_i2c.c</FileName>
<FilePath>..\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>stm32f4xx_hal_i2c_ex.c</FileName>
<FilePath>..\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>stm32f4xx_hal_pwr.c</FileName>
<FilePath>..\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c</FilePath>
</File>
@ -770,6 +785,11 @@
</File>
<File>
<FileType>1</FileType>
<FileName>stm32f4xx_ll_i2c.c</FileName>
<FilePath>..\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>stm32f4xx_ll_usb.c</FileName>
<FilePath>..\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c</FilePath>
</File>
@ -915,6 +935,11 @@
</File>
<File>
<FileType>5</FileType>
<FileName>dji_cloud_api_by_websockt.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_cloud_api_by_websockt.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>dji_core.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_core.h</FilePath>
</File>
@ -935,6 +960,11 @@
</File>
<File>
<FileType>5</FileType>
<FileName>dji_fts.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_fts.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>dji_gimbal.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_gimbal.h</FilePath>
</File>
@ -990,6 +1020,16 @@
</File>
<File>
<FileType>5</FileType>
<FileName>dji_network_rtk.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_network_rtk.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>dji_open_ar.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_open_ar.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>dji_payload_camera.h</FileName>
<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_payload_camera.h</FilePath>
</File>
@ -1095,6 +1135,11 @@
</File>
<File>
<FileType>5</FileType>
<FileName>hal_i2c.h</FileName>
<FilePath>..\..\hal\hal_i2c.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>hal_uart.h</FileName>
<FilePath>..\..\hal\hal_uart.h</FilePath>
</File>
@ -1245,6 +1290,16 @@
</File>
<File>
<FileType>5</FileType>
<FileName>stm32f4xx_hal_i2c.h</FileName>
<FilePath>..\..\drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>stm32f4xx_hal_i2c_ex.h</FileName>
<FilePath>..\..\drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>stm32f4xx_hal_pwr.h</FileName>
<FilePath>..\..\drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h</FilePath>
</File>
@ -1285,6 +1340,11 @@
</File>
<File>
<FileType>5</FileType>
<FileName>stm32f4xx_ll_i2c.h</FileName>
<FilePath>..\..\drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h</FilePath>
</File>
<File>
<FileType>5</FileType>
<FileName>stm32f4xx_ll_usb.h</FileName>
<FilePath>..\..\drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h</FilePath>
</File>